sensors and actuators? How do we handle the errors introduced due to noise, quantization etc?

CSE 522 Spring 12

CSE522: Real-Time Embedded Systems

The Schedule Sitemap

CSE522: Real-Time Embedded Systems

Introduction

This course provides an introduction to real-time embedded systems that interact with the physical environment. Embedded computers monitor and control physical systems such as aircraft, automobiles, medical devices etc in real time. Such safety critical applications require a principled and mathematically sound approach to the design of real-time embedded systems rather than ad-hoc and hacking design approaches.

The students in this course will acquire the mathematical foundations that are required for modeling, analysis and design of real-time embedded systems. In particular, we will study:

Models of computation: How do we mathematically model computation and real time systems? How do we model concurrent systems?

1.

Models of physical systems: How do we model physical systems? How do we model computation and physical system behavior in a common framework? How do we take into account the constraints of the physical system in the design of a real-time embedded system?

2.

Interfaces between the physical system and the embedded device: How do we model, choose and calibrate sensors and actuators? How do we handle the errors introduced due to noise, quantization etc?

3.

Analysis and Verification: How do we analyze and verify functional properties of real time systems? How do we analyze execution time?

4.

Real-time embedded platforms: What are the principles of real-time operating systems? How do we do scheduling and how do we handle concurrency issues?

5.

Current topics in real time embedded systems. 6.

The course also emphasizes rigorous thinking and mathematical proofs. As stated above, the design of embedded systems for safety critical systems mandates the use of formal synthesis and analysis techniques.

Disclaimer

This is a live web-page so please check it frequenlty. Moreover, the course is currently under development. Therefore, it is recommended only to adventurous students who can excel within non-fully structured

environments. On the other hand, the students who take the class will be introduced to advanced concepts in the design and analysis of real-time embedded systems.

Logistics

Class: Tuesday and Thursday 1:30-2:45pm, BYAC 220 Instructor: Georgios Fainekos (fainekos at asu) Office hours: Tuesday & Wednesday 4:30-5:30pm Office: BYENG M1-12

Teaching assistant names, office hours and offices are posted on blackboard under Staff Information. Announcements will only be posted on blackboard (sometimes also in class on the slides).

Prerequisites

The course does not have any prerequisites and all the related concepts will be introduced in detail. However, some familiarity with finite state machines, ordinary differential equations and C is assumed. Knowledge of a Model Based Design environment such as Simulink/Stateflow and LabView is a plus.

Textbooks

Required reading: We will closely follow the newly published book by Lee & Seshia: Introduction to embedded systems (online)

Please do not try to print the book using university printers. You can always buy the book at LuLu. Recommended reading: Peter Marwedel: Embedded System Design, 2nd edition, Springer, 2010 Two copies of 2nd edition are on reserve at the Noble library.

Free access to 1st edition through SpringerLink or MyiLibrary. Additional References:

Jane W.S. Liu, Real-Time Systems, Prentice Hall, 2000

C. Cassandras, S. Lafortune: Introduction to Discrete Event Systems, Springer 2007 Giorgio C. Buttazzo, Hard Real-Time Computing Systems, Springer, 2004

P. Tabuada, Verification and control of hybrid systems: a symbolic approach, Springer-Verlag 2009 (ASU on-line access to the book)

Vahid, F. and T. Givargis, Programming Embedded Systems - An Introduction to Time-Oriented Programming, UniWorld Publishing, 2010

Resources

Grading

Grades will be based on:

The following grading scheme will be used for the in class section: 7 homeworks (one for each module) 30%

1.

The worst homework grade will be ignored

Update (1/29/2012): You may form discussion groups for the HW problems of up to 4 members. However, the HW submission will be individual and you must mention the members of the discussion group on your submission. You can join a HW group on Blackboard. The HW groups are not monitored. Update (1/29/2012): No homework assignments will be accepted after the due date/time! Midterm Exam (in class) 35%

2.

Both open book, open notes (electronic edition of the book and notes are fine, but wireless must be turned off and no typing is allowed, i.e., no searches and no collaboration)

Final exam (in class) 35% 3.

Both open book, open notes (electronic edition of the book and notes are fine, but wireless must be turned off and no typing is allowed, i.e., no searches and no collaboration)

Optional project that acts as a bonus to your final grade 4.

Class participation 5.

If you are within 1% point of moving to a higher letter grade, then class participation can help you. Class participation consists of:

Finding typos, bugs, etc in the book, slides, lecture notes, homework problems etc Answering questions (correctly) in the class

Answering questions (correctly) on the discussion board Active discussion in class on the lecture material

Class participation is not an one time contribution. It must be continuing activity throughout the semester.

Algorithm for computing your grade: HWS: Homework score

i_min = argmin{HW1,...,HW7} where HWi is your score for HW i and argmin returns the homework assignment with the minimum score

HWS = Σ{ (HWi/THWi) | for i in {1,...,7} - {i_min} } / 6

where Σ indicates summation and THWi is the total possible points for each HW i FES: Final exam score

TFEP: the total possible points for the final exam MES: Midterm exam score

TMES: the total possible points for the midterm exam FG : Final Grade

FG = (0.3*HWS + 0.35*MES + 0.35*FES)*PB

where PB is the project bonus, i.e., PB = 1 if you did not do the project and ranges up to 1.06 as indicated in the project description.

Grading scale: A+ >100% B- [75-80)% A [95-100]% C+ [70-75)% A- [90-95)% C [65-70)% B+ [85-90)% D [55-65)% B [80-85)% F <55%

Note: The above might still change depending on the number of students and the available resources. For example, it is possible that a lab component might be introduced, if resources become available.

Optional project option

A perfect project will be graded 100pt which corresponds to a multiplicative factor of 1.06 on your final grade. If you get x points out of 100, then the multiplicative factor will be PB = 1+(6*x/100)/100.

An exceptional project, i.e., new results that can lead to publication, will receive grade more than 100pt. The project option can be used by MCS students for their project portfolio.

(Update 1/29/2012) Since this is an optional project, no group projects will be allowed.

validate their results with an implementation of your own. Simply copying or permutating the text of the original papers is not acceptable and it will be considered plagiarism!

Modeling/Simulation/Analysis/Synthesis of embedded and/or cyber-physical systems You may select a system that you would like to build

You will perform literature review (scholarly papers and patents) of similar designs

You will formally write the functional requirements for the system using Linear Temporal Logic (LTL) You will perform one of the following

Verify the system against the specifications

Automatically synthesize the system from the specifications Verify timing properties of the system

Building an embedded system interacting with the physical environment A theoretical problem which could lead to publication

Please schedule a meeting with me if you are interested in a project along these lines Potential topics:

New scheduling algorithms

Work on temporal logic for analysis and synthesis of real-time systems other

Something related to your own research/work

You must demonstrate that you are using at least 2 modules from the list in the Introduction above. This must not be previously published work of yours (this is going to be automatically verified) or unpublished on-going research effort (this is going to be checked with your research adviser)

Other ideas:

Pacemaker Formal Methods Challenge Project deliverables (updated 1/29/2012):

2 page project proposal by the end of the 4th week

.

Introduction to general topic area that you are going to look into with a few bibliographic references on the background.

A precise problem description which also indicates which aspects of the course are relevant / will be used to solve the problem. Recall that that you need to demonstrate that at least 2 modules from the course will be relevant to your project.

An outline of what you plan to do to solve the problem and a schedule with the expected milestones. This section does not have to be very detailed since some of the topics are going to be covered later in the course. The expected deliverables of the project.

Any software developed (if applicable)

The code is going to be checked for plagiarism through SafeAssign on Blackboard and Moss (the latter is able to check structural similarities in code).

Note that you are allowed to use existing code as long as this is used as a library or a component in your system 1.

you clearly state your sources in your report 2.

6-10 page paper in IEEE conference format

The report is going to be checked for plagiarism through SafeAssign on Blackboard.

TBD one of the following options: (i) 15-30min presentation, (ii) poster presentation or (iii) oral examination The examination option will depend on the number of students selecting to do the project.

Plagiarism Policy

Your work for this course must be the result of your own individual effort. Having said that, you are allowed to discuss problems with your classmates or me, but you must not blatantly copy others' solutions. Copying (or slightly changing) solutions from online sources, other books or your friends is easily detectable. If the latter copying is detected the worst credit will be split among the perpetrators, or worse! Also, if you can find an answer online, then so can I!

Special Needs

If you are entitled to extra accommodation for any reason (such as a disability), I will make every reasonable attempt to accommodate you. However, it is your responsibility to discuss this with the instructor at the beginning of the course.

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CSE 522 Spring 12

CSE522: Real-Time Embedded Systems

The Schedule Sitemap

The Schedule

Notes:

In general, the schedule is tentative. It might be required to spend more time on some subjects, while other subjects might be easier.

1.

All the documents, homework etc (besides the slides) are/will be available on blackboard. 2.

The slides will be added on this page as the course progresses. The slides will be mainly based on the lectures from previous offerings of the course and can be found here if you would like to prepare in advance of the class. 3.

LEC. DATE TOPIC

REQUIRED READING (Lee &

Seshia)

RECOMMENDED READING / OTHER

COMMENTS HOMEWORK

0 1/5/2012 Introduction & Motivation Ch. 1 Marwedel Ch 1

Caspi et al, Guidelines for a Graduate Curriculum on Embedded Software and Systems (on blackboard)

1 1/10/2012 Continuous Systems I Ch. 2 (2.1-2.3) 2 1/12/2012 Continuous Systems II Ch. 2 (2.3-2.4) 3 1/17/2012 Discrete Systems Ch. 3 pp 43-73

4 1/19/2012 Discrete Systems HW 1 Due

Composition of State

Machines Ch. 5 pp 109-128

Harel - Statecharts in the Making (on blackboard)

5 1/24/2012 Composition of State Machines

6 1/26/2012 Composition of State Machines

Embedded processors Ch. 7 pp 175-182 Marwedel Ch 3.3

7 1/31/2012 Embedded processors Ch. 7 pp182-201 Marwedel Ch 2.4.2

8 2/2/2012 Embedded processors HW 2 Due

9 2/7/2012 Memory Architectures Ch. 8 pp 203-221 Marwedel Ch 3.4 10 2/9/2012 Timed Automata Ch. 4 pp 60-61

and 79-88

Project Proposal due 11 2/14/2012 Timed Automata and

Hybrid Systems Ch. 4 pp 79-94

Ferrari et al. The Metro Rio ATP case study (on Blackboard)

12 2/16/2012 Input and Output Ch. 9.1 pp 226-238

13 2/21/2012 Review Session Slides on Blackboard HW 3 Due

2/23/2012 Midterm

14 2/28/2012 Input and Output Ch. 9.2 & 9.3 Marwedel Ch. 3.2 (Input) and 3.6 (Output) 15 3/1/2012 Modeling Concurrency Ch. 6.1 & 6.2 Marwedel Ch. 2.1-2.6 and 2.10

16 3/6/2012 Multitasking Ch. 10.1 & 10.2 Pthread for Win32 tutorial (on Blackboard) Adve & Boehm: You Don't Know Jack about Shared Variables or Memory Models (on Blackboard)

Leveson & Turner: An investigation of the Therac-25 accidents (on Blackboard)

17 3/8/2012 Multitasking HW 4 Due

18 3/13/2012 Invariants and Temporal

Logic Ch. 12

Autocode Generation slides (on Blackboard)

19 3/15/2012 Invariants and Temporal Logic

3/20/2012 Spring Break 3/22/2012 Spring Break

20 3/27/2012 Invariants and Temporal Logic

21 3/29/2012 Equivalence and

Refinement Ch. 13 HW 5 Due

22 4/3/2012 Reachability Analysis and

Model Checking Ch. 14 SPIN tutorial on Blackboard

23 4/5/2012 Reachability Analysis and Model Checking

Scheduling Ch. 11.1 & 11.2

24 4/10/2012 Scheduling Ch. 11.1 & 11.2

25 4/12/2012 Scheduling Ch. 11.3 Simulink Design Verifier tutorial (slides

and references on Blackboard) HW 6 Due 26 4/17/2012 Scheduling Ch. 11.3-11.6

I will be attending CPSWeek and the lecture will be provided on-line to all the students

27 4/19/2012 Quantitative Analysis Ch. 15

I will be attending CPSWeek and the lecture will be provided on-line to all the students

28 4/24/2012 Review Session

I will be attending Hybrid Systems: Theory and Practice. This class will be given through Adobe Connect (Slides on Blackboard).

HW 7 Due

Project Due

5/1/2012 Final exam Time 12:10-2:00pm BYAC 220

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